Charging robot, control server, and charging method

Abstract

The invention relates to a charging robot, a control server, and a charging method. The charging robot includes: a memory storing computer executable instructions; at least one processor accessing the memory and executing the instructions; an output device; and a first position recognition device that recognizes a vehicle approaching the charging station. The processor determines at least one of a first distance between the vehicle and the charging robot recognized by the first position recognition device, a first moving direction of the vehicle, a first moving speed of the vehicle, or any combination thereof; the position based on the vehicle includes charging the vehicle based on at least one of the first distance, the first movement direction, or the first movement speed, or any combination thereof, in a charging position at which the charging robot is capable of charging the vehicle.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0149230 filed in the Korean Intellectual Property Office on November 1, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a charging robot, a control server and a charging method, and more particularly to a technology for charging a vehicle by a charging robot without requiring the driver to get off the vehicle during the vehicle charging process. Background Art

[0004] According to the carbon emission control policy, the automobile industry requires petroleum-based vehicles to improve fuel efficiency and reduce carbon emissions. Therefore, electric vehicles that are driven by electricity and do not produce exhaust gas have been developed in various forms.

[0005] Electric vehicles and electric vehicle charging stations are constantly expanding. Inconveniences for drivers driving corresponding vehicle types still exist. For example, there are application intercommunication payments when charging electric vehicles, payments using robots, etc. However, this requires the driver to perform operations such as inputting charging information and making payments after getting off the electric vehicle. To this end, in order to provide smooth services, an intercommunication configuration for electric vehicle charging robots, drivers, electric vehicles, payment systems, infrastructure (e.g., CCTV), and control systems is required.

[0006] In order to solve such problems, it is necessary to develop a technology that identifies the location of a vehicle, charges the vehicle when the location of the vehicle is a charging location, identifies the location of an obstacle in a safe area to stop charging the vehicle, and pays the charging fee using the identification information obtained by identifying the vehicle. Summary of the invention

[0007] The present invention is dedicated to solving the above-mentioned problems in the prior art while completely retaining the advantages achieved by the prior art.

[0008] One aspect of the present invention provides a charging robot, a control server, and a charging method, which charge a vehicle based on the position of the vehicle identified by a first position identification device being included in the charging position, determine the entry speed and expected position of the vehicle moving for charging without the need for CCTV for identifying the parking status of the vehicle, thereby preventing accidents through an alarm.

[0009] Another aspect of the present invention provides a charging robot, a control server, and a charging method that stop charging a vehicle based on the position of an obstacle identified by a second position recognition device being located in a safe area, thereby eliminating the need to install a separate obstacle detection motion sensor bollard for identifying the obstacle.

[0010] Another aspect of the present invention provides a charging robot, a control server, and a charging method, which send charging data to a vehicle based on communication data identified by identification information for identifying the vehicle, thereby having the convenience of being able to pay the charging fee without the driver getting off the vehicle and utilizing the audio, video, and navigation (AVN) system included in the vehicle without installing a separate application.

[0011] The technical problems to be solved by the present invention are not limited to the aforementioned problems. According to the following description, those skilled in the art to which the present invention belongs will clearly understand any other technical problems not mentioned herein.

[0012] According to one aspect of the present invention, a charging robot may include: a memory storing computer executable instructions; at least one processor accessing the memory and executing the computer executable instructions; an output device; and a first position identification device identifying a vehicle approaching a charging station. The at least one processor may determine at least one of a first distance between the vehicle identified by the first position identification device and the charging robot, a first moving direction of the vehicle, or a first moving speed of the vehicle, or any combination thereof; and may charge the vehicle based on at least one of the first distance, the first moving direction, or the first moving speed, or any combination thereof, based on the position of the vehicle being included in a charging position, and the charging position is a position where the charging robot can charge the vehicle.

[0013] In an embodiment, the at least one processor can determine a first distance based on a target time point when the first position identification device identifies the vehicle based on a communication result between a tag that can be included in the vehicle and identify the location of the vehicle and an anchor of an ultra-wideband sensor (UWB) included in the first position identification device; can determine a first moving direction based on the location of the vehicle; and can determine a first moving speed based on the first distance and the first moving direction.

[0014] In an embodiment, the at least one processor can determine the position of the vehicle at a subsequent time point after the target time point based on the position of the vehicle at the target time point when the first position identification device identifies the vehicle, the first moving speed at the target time point, and the acceleration of the vehicle at the target time point; based on the position of the vehicle at the subsequent time point being in an area different from the charging area including the charging position, a request notification requesting the vehicle to move can be sent through at least one of the output device or the output device included in the charging station or any combination thereof.

[0015] In an embodiment, the at least one processor may send a request notification requesting vehicle movement through at least one of an output device or an output device included in the charging station, or any combination thereof, based on comparing the acceleration of the vehicle at the target time point with a predetermined acceleration.

[0016] In an embodiment, the at least one processor may identify whether the position of the vehicle is at a charging position based on comparing the first distance with a predetermined chargeable distance, and may charge the vehicle based on the position of the vehicle being at the charging position.

[0017] In an embodiment, the at least one processor may send a request notification requesting vehicle movement through at least one of an output device or an output device included in the charging station, or any combination thereof, based on identifying that the location of the vehicle is not at a charging location.

[0018] In an embodiment, the charging robot may further include a second position recognition device that recognizes obstacles located in a predetermined area based on the position of the vehicle. The at least one processor may determine a safe area corresponding to the recognition area of ​​the second position recognition device based on the position of the vehicle being included in the charging position; may determine at least one of a second distance between the obstacle identified by the second position recognition device and the vehicle, a second moving direction of the obstacle, or a second moving speed of the obstacle, or any combination thereof, based on the position of the obstacle being located in the safe area; may stop charging the vehicle based on at least one of the second distance, the second moving direction, or the second moving speed, or any combination thereof.

[0019] In an embodiment, the at least one processor may identify the identification information including the information of the vehicle through a light detection and ranging (LiDAR) sensor included in the second position identification device.

[0020] In an embodiment, the at least one processor may skip stopping of charging of the vehicle and charge the vehicle based on the second moving speed being less than or equal to a predetermined first threshold speed.

[0021] In an embodiment, the at least one processor may stop charging the vehicle based on the second moving speed being greater than or equal to a predetermined second threshold speed and the second moving direction corresponding to a direction from the location of the obstacle to the location of the vehicle; and may send a stop notification for stopping charging of the vehicle through at least one of an output device or an output device included in the charging station, or any combination thereof.

[0022] In an embodiment, the at least one processor may identify the vehicle through a second position identification device; and may stop charging the vehicle based on identifying that a door of the vehicle is open.

[0023] According to another aspect of the present invention, a control server may include: a memory storing computer executable instructions; at least one processor accessing the memory and executing the instructions; and a communication device performing communication with a charging robot and a vehicle. The at least one processor may receive identification information for identifying the vehicle from the charging robot; may identify communication data for performing long term evolution (LTE) communication with the vehicle based on information about the vehicle queried through the received identification information; and may send charging data received from the charging robot to the vehicle based on the communication data.

[0024] According to another aspect of the present invention, a charging method may include: determining at least one of a first distance between a vehicle and a charging robot, a first moving direction of the vehicle, or a first moving speed of the vehicle, or any combination thereof, identified by a first position identification device included in the charging robot; charging the vehicle based on the position of the vehicle being included in the charging position, based on at least one of the first distance, the first moving direction, the first moving speed, or any combination thereof, wherein the charging position is a position where the charging robot can charge the vehicle; determining a safe area corresponding to an identification area of ​​a second position identification device included in the charging robot, based on the position of the vehicle being included in the charging position; determining at least one of a second distance between an obstacle and the vehicle, a second moving direction of the obstacle, or a second moving speed of the obstacle, or any combination thereof, identified by the second position identification device, based on the position of the obstacle being located in the safe area; and stopping charging the vehicle based on at least one of the second distance, the second moving direction, the second moving speed, or any combination thereof.

[0025] In an embodiment, charging a vehicle may include: determining a first distance based on a target time point when the first position identification device identifies the vehicle, based on a communication result between a tag that can be included in the vehicle and identifies the location of the vehicle and an anchor point of an ultra-wideband (UWB) sensor included in a first position identification device; determining a first moving direction based on the location of the vehicle; determining a first moving speed based on the first distance and the first moving direction; determining the location of the vehicle at a subsequent time point after the target time point based on the location of the vehicle at the target time point when the first position identification device identifies the vehicle, the first moving speed at the target time point, and the acceleration of the vehicle at the target time point; sending a request notification requesting vehicle movement through at least one of an output device included in the charging robot or an output device included in the charging station, or any combination thereof, based on the location of the vehicle at the subsequent time point being in an area different from the charging area including the charging location.

[0026] In an embodiment, sending a request notification requesting vehicle movement may include: based on comparing the acceleration of the vehicle at a target time point with a predetermined acceleration, sending the request notification requesting vehicle movement through at least one of an output device or an output device included in the charging station, or any combination thereof.

[0027] In an embodiment, charging the vehicle may include: identifying whether the vehicle is located at a charging position based on comparing a first distance with a predetermined chargeable distance; charging the vehicle based on the vehicle being located at the charging position; and sending a request notification requesting the vehicle to move through at least one of an output device included in the charging robot or an output device included in the charging station, or any combination thereof, based on identifying that the vehicle is not located at the charging position.

[0028] In an embodiment, stopping charging of the vehicle may include skipping stopping of charging of the vehicle and charging the vehicle based on the second moving speed being less than or equal to a predetermined first threshold speed.

[0029] In an embodiment, stopping charging the vehicle may include: stopping charging the vehicle based on the second moving speed being greater than or equal to a predetermined second threshold speed and the second moving direction corresponding to a direction from the location of the obstacle to the location of the vehicle; sending a stop notification of stopping charging the vehicle through at least one of an output device included in the charging robot or an output device included in the charging station, or any combination thereof.

[0030] In an embodiment, stopping charging of the vehicle may include: identifying the vehicle through a second position identification device; and stopping charging of the vehicle based on identifying that a door of the vehicle is open.

[0031] In an embodiment, the charging method may further include: receiving identification information for identifying a vehicle from a charging robot; identifying communication data for performing long-term evolution (LTE) communication with the vehicle based on information about the vehicle queried through the received identification information; and sending charging data received from the charging robot to the vehicle based on the communication data. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description presented in conjunction with the accompanying drawings, in which:

[0033] Figure 1 is a schematic diagram showing a charging robot according to an embodiment of the present invention;

[0034] Figure 2 is a flowchart for describing a method of charging a vehicle by a first position recognition device and stopping charging of the vehicle by a second position recognition device in a charging robot according to an embodiment of the present invention;

[0035] Figure 3 is a schematic diagram showing a connection relationship among a charging robot, a control server, and a vehicle according to an embodiment of the present invention;

[0036] Figure 4A and Figure 4B is a schematic diagram illustrating an operation of charging a vehicle or stopping charging of a vehicle performed in a charging robot and a control server according to an embodiment of the present invention;

[0037] Figure 5 is a schematic diagram illustrating a method of identifying a vehicle by a first position identification device in a charging robot according to an embodiment of the present invention;

[0038] Figure 6 is a schematic diagram illustrating a method for identifying an obstacle by a second position identification device in a charging robot according to an embodiment of the present invention;

[0039] Fig. 7A and Figure 7B is a flowchart for describing an operation of charging a vehicle or stopping charging of a vehicle performed in a charging robot and a control server according to an embodiment of the present invention;

[0040] Figure 8 is a schematic diagram showing information that can be displayed in a vehicle when a charging robot sends charging data to a vehicle according to an embodiment of the present invention;

[0041] Fig. 9 is a schematic diagram showing a computing system related to a charging robot, a control server or a charging method according to an embodiment of the present invention.

[0042] Regarding the description of the drawings, the same or similar reference numerals may be used for the same or similar components. DETAILED DESCRIPTION

[0043] Hereinafter, some embodiments of the present invention will be described in detail with reference to the exemplary drawings. When adding reference numerals to the components of each figure, it should be noted that, even if displayed on other figures, the same components are referred to by the same reference numerals. In addition, in order to unnecessarily obscure the gist of the present invention, a detailed description of known features or functions will be excluded. Hereinafter, various embodiments of the present invention may be described with reference to the attached drawings. However, it should be understood that this is not intended to limit the present invention to a specific implementation form, but includes various modifications, equivalents and / or alternatives of the embodiments of the present invention. With regard to the description of the drawings, similar components may be marked with similar reference numerals.

[0044] When describing the components of the exemplary embodiments of the present invention, the terms first, second, A, B, (a), (b), etc. may be used herein. These terms are only used to distinguish one component from another component, but do not limit the corresponding components, and are not related to the order or priority of the corresponding components. In addition, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the meaning generally understood by the technicians in the field to which the present invention belongs. These terms defined in the commonly used dictionaries should be understood to have the meaning consistent with the contextual meaning in the relevant technical field, and should not be understood to have ideal or overly formalized meanings, unless such a definition is clearly made in this application. For example, the terms used in the present invention, for example, "first", "second", etc., can be used to represent various components, regardless of order and / or priority, and are used to distinguish one component from another component, but are not limited to these components. For example, the first user device and the second user device indicate different user devices, regardless of order and / or priority. For example, without departing from the scope of the present invention, the first component can be referred to as the second component, and similarly, the second component can be referred to as the first component.

[0045] In the present invention, the expressions “have”, “may have”, “include” and “comprise”, or “may include” and “may include” indicate the existence of corresponding features (for example, components such as values, functions, operations or parts), but do not exclude the existence of additional features.

[0046] It should be understood that when a component (e.g., a component) is referred to as being "(operably or communicatively) coupled to" another component (e.g., a second component) or "coupled / connected to" another component (e.g., a second component), the component may be directly coupled to or directly coupled / connected to the other component, or an intermediate component (e.g., a third component) may exist. Conversely, when a component (e.g., a first component) is referred to as being "directly coupled to" or "directly coupled / connected to" another component (e.g., a second component), it should be understood that there is no intermediate component (e.g., a third component).

[0047] As used herein, the expression “configured to” may be used interchangeably with, for example, expressions “suitable for,” “capable of,” “designed to,” “suitable for,” “manufactured to,” or “capable of,” depending on the circumstances.

[0048] The term "configured to" does not necessarily refer only to "specially designed to" of hardware. On the contrary, the expression "device, which is configured to" may mean that the device is "capable" of running with another device or other components. For example, "a processor, which is configured to perform A, B and C" may refer to a dedicated processor (e.g., an embedded processor) for performing the corresponding operations, or a general-purpose processor (e.g., a central processing unit (CPU) or an application processor) that performs the corresponding operations by executing one or more software programs stored in a storage device. The terms used in the present invention are only used to describe a specific embodiment and are not intended to limit the scope of another embodiment. Unless the context clearly indicates otherwise, a term in the singular form may include a plural form. All terms used herein, including technical terms or scientific terms, may have the same meaning as the meanings generally understood by those skilled in the art described in the present invention. It will be further understood that terms defined and commonly used in dictionaries should also be interpreted as being customary in the relevant art, and should not be interpreted as ideal or overly formalized meanings, unless such definitions are provided in various embodiments of the present invention. In some cases, even if the terms are defined in the specification, they cannot be interpreted as excluding embodiments of the present invention.

[0049] In the present invention, expressions such as "A or B", "at least one of A or / and B", or "one or more of A and / or B", etc. may include any and all combinations of the relevant listed items. For example, the term "A or B", "at least one of A and B", or "at least one of A or B" may represent all of the cases including at least one A (1), the case including at least one B (2), or the case including both at least one A and at least one B (3). In addition, when describing embodiments of the present invention, each of phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", "at least one of A, B or C", and "at least one of A, B or C, or any combination thereof" may include any or all possible combinations of the items listed together in the corresponding phrase. In particular, phrases such as "at least one of A, B or C, or any combination thereof" may include "A", "B" or "C", or their combinations "AB" or "ABC".

[0050] In the following, reference will be made to Figures 1 to 9 Embodiments of the present invention are described in detail.

[0051] Figure 1 is a schematic diagram showing a charging robot according to an embodiment of the present invention.

[0052] The charging robot 100 according to the embodiment may include a processor 110 , a memory 120 including instructions 122 , a communication device 130 , a first position recognition device 150 , and a second position recognition device 160 .

[0053] The charging robot 100 may include a robot for charging a vehicle. Specifically, the charging robot 100 may identify a vehicle through a first position recognition device 150. The charging robot 100 may determine the distance between the identified vehicle and the charging robot 100, the moving direction of the vehicle, and the moving speed of the vehicle. The charging robot 100 may determine the position of the vehicle based on the distance between the vehicle and the charging robot 100, the moving direction of the vehicle, and the moving speed of the vehicle. When the determined position of the vehicle is included in the charging position, the charging robot 100 may charge the vehicle.

[0054] The charging robot 100 may include a robot for charging a vehicle and stopping charging the vehicle at the same time. For example, the charging robot 100 may identify obstacles located around the vehicle being charged through the second position recognition device 160. The charging robot 100 may determine a safe area. Herein, a safe area may include an area where the vehicle is charged and an area set at a predetermined distance from the area. When the position of the obstacle is located in the safe area, the charging robot 100 may stop charging the vehicle. Specifically, the charging robot 100 may determine the distance between the obstacle and the vehicle, the moving direction of the obstacle, and the moving speed of the obstacle. The charging robot 100 may stop charging the vehicle based on the distance between the obstacle and the vehicle, the moving direction of the obstacle, and the moving speed of the obstacle.

[0055] The processor 110 may execute software and may control at least one other component (e.g., a hardware or software component) connected to the processor 110. In addition, the processor 110 may perform various data processing or calculations. For example, the processor 110 may store the distance between the vehicle and the charging robot 100, the moving direction of the vehicle, the moving speed of the vehicle, the distance between the obstacle and the vehicle, the moving direction of the obstacle, and the moving speed of the obstacle in the memory 120.

[0056] For reference, the processor 110 may perform all operations performed by the charging robot 100. Therefore, for the convenience of description in the specification, the operations performed by the charging robot 100 are mainly described as operations performed by the processor 110. In addition, for the convenience of description in the specification, the processor 110 is mainly described as, but not limited to, one processor. For example, the charging robot 100 may include at least one processor. Each of the at least one processor may perform all operations associated with the operation of charging a vehicle or stopping charging a vehicle.

[0057] The memory 120 may temporarily and / or permanently store various data and / or information required to perform the operation of charging or stopping the charging of the vehicle. For example, the memory 120 may store the distance between the vehicle and the charging robot 100, the moving direction of the vehicle, the moving speed of the vehicle, the distance between the obstacle and the vehicle, the moving direction of the obstacle, and the moving speed of the obstacle.

[0058] The communication device 130 can assist in performing communication between the charging robot 100 and the control server 140. For example, the communication device 130 may include one or more components for performing communication between the charging robot 100 and the control server 140. For example, the communication device 130 may include a short-range wireless communication unit, a microphone, etc. At this time, the short-range communication technology may be, but is not limited to, wireless LAN (Wi-Fi), Bluetooth, ZigBee, Wi-Fi Direct (WFD), Ultra Wideband (UWB), Infrared Data Association (IrDA), Bluetooth Low Energy (BLE), Near Field Communication (NFC), etc.

[0059] The first position identification device 150 can identify the position of the vehicle approaching the charging station. For example, the first position identification device 150 may include a sensor for receiving at least one signal. Specifically, the first position identification device 150 may include at least one of a sensor for receiving a global positioning system (GPS) signal, a sensor for receiving an ultrasonic signal, a sensor for receiving an infrared signal, or a sensor for receiving an ultra-wideband (UWB) signal, or any combination thereof. For reference, a UWB signal is a signal that utilizes a frequency band of at least 1 GHz in a baseband without utilizing a radio frequency (RF) carrier. Because this UWB signal utilizes pulses that are much narrower than the pulses of the above-mentioned signals, it has excellent penetration. Therefore, for the convenience of description in the specification, the first position identification device 150 is mainly described as a device for identifying the position of a vehicle through a UWB signal. The following will refer to Figure 5 A detailed description is given about a method of recognizing the position of a vehicle by the first position recognition device 150 in the charging robot 100 .

[0060] The second position recognition device 160 may include a sensor for identifying the location of an obstacle approaching the charging station. For example, the second position recognition device 160 may include a light detection and ranging (lidar) sensor. The second position recognition device 160 may be a lidar sensor, which is a beam steering sensor for irradiating laser light to a target point, which can identify the location of the obstacle. However, the target identified by the second position recognition device 160 is not limited to this. For example, the second position recognition device 160 can identify the movement of a vehicle that is being charged at the charging station. The following will refer to Figure 6 A detailed description is given about a method of recognizing the position of an obstacle by the second position recognition device 160 in the charging robot 100 .

[0061] Figure 2 is a flowchart for describing a method of charging a vehicle through a first position recognition device and stopping charging of the vehicle through a second position recognition device in a charging robot according to an embodiment of the present invention.

[0062] In step 210, a charging robot (e.g., Figure 1 The charging robot 100 can determine the position of the charging robot 100 by the first position recognition device (for example, Figure 1 At least one of a first distance between the vehicle and the charging robot, a first moving direction of the vehicle, or a first moving speed of the vehicle, or any combination thereof, identified by a first position identification device 150).

[0063] For example, the charging robot may identify the vehicle through the first position recognition device. The charging robot may determine the first distance based on the target time point when the vehicle is recognized. Specifically, the charging robot may determine the first distance based on the communication result between the tag included in the vehicle and the anchor included in the first position recognition device. The charging robot may determine the first moving direction and the first moving speed based on the determination of the first distance. Figure 5 A detailed description is given about determining the first moving direction and the first moving speed.

[0064] The charging robot may charge the vehicle at step 220. For example, the charging robot may charge the vehicle based on at least one of a first distance, a first moving direction, or a first moving speed, or any combination thereof, based on the position of the vehicle being included in a charging position, where the charging position is a position where the charging robot can charge the vehicle.

[0065] In step 230, the charging robot may determine at least one of a second distance between the obstacle and the vehicle, a second moving direction of the obstacle, or a second moving speed of the obstacle, or any combination thereof, based on the position of the obstacle being in the safety area. For example, the charging robot may determine a safety area corresponding to the identification area of ​​the second position identification device based on the position of the vehicle being included in the charging position.

[0066] In step 240, the charging robot may stop charging the vehicle. For example, the charging robot may stop charging the vehicle based on at least one of a second distance, a second moving direction, or a second moving speed, or any combination thereof.

[0067] Figure 3 is a schematic diagram showing a connection relationship among a charging robot, a control server, and a vehicle according to an embodiment of the present invention.

[0068] The charging robot 300 according to the embodiment may perform communication with at least one external device to connect with the at least one external device. For example, the charging robot 300 may perform communication with the vehicle 310 , the charging device 320 , and the control server 330 .

[0069] The charging robot 300 may connect the charging port of the charging device 320 to the charging port of the vehicle 310 to charge the vehicle 310. The charging robot 300 may connect the charging port of the charging device 320 to the charging port of the vehicle 310 based on at least one of a first distance, a first moving direction, or a first moving speed, or any combination thereof, based on the position of the vehicle 310 being included in the charging position, where the charging robot 300 is able to charge the vehicle 310.

[0070] The driver can charge the vehicle 310 by using the UWB technology through the communication process between the charging robot 300 and the vehicle 310 without getting off the vehicle 310. In addition, the charging robot 300 can ensure the safety of the vehicle 310 when the vehicle 310 enters the charging station through the UWB technology. Figure 5 A detailed description is given in relation thereto.

[0071] The vehicle 310 may represent, for example, an electric vehicle that is driven by electricity and does not generate exhaust gas. Specifically, the vehicle 310 may include an electric vehicle that does not include an internal combustion engine. In addition, the vehicle 310 may include a hybrid vehicle that can include an internal combustion engine and is driven by electricity. Therefore, the vehicle 310 in the specification is a concept that includes any means of transportation or running tools driven by electric energy, and is not a concept constrained by the number of wheels or the shape of wheels. In addition, the vehicle 310 is not limited to four wheels, and it may include two wheels, three wheels, etc.

[0072] The vehicle 310 may include a tag that can be identified by a UWB sensor. For example, the vehicle 310 may include at least one UWB tag. The UWB tag included in the vehicle 310 may be located at a charging port of the vehicle 310, but is not limited thereto. In addition, the vehicle 310 may include an AVN system that can receive input from a driver. The vehicle 310 may provide the driver with payment related to charging through the AVN system. Figure 8 A detailed description is given in relation thereto.

[0073] The charging device 320 may represent a device for charging a battery included in the vehicle 310. Therefore, charging in the specification may be generally referred to as a process of supplying power to the battery of the vehicle 310 so that the vehicle 310 can be driven, and may be classified into fast charging, slow charging, contactless charging, etc. in combination with the time taken for charging or the charging scheme. However, charging in the present invention may be applied to all of the above classifications.

[0074] The control server 330 may represent a server for intercommunication and integrated management with the charging robot 300, the vehicle 310, the payment server 340, the vehicle information query server 350, the camera, etc. For example, the control server 330 may perform communication with the charging robot 300 through a KAFKA (e.g., Apache Kafka) communication protocol. The control server 330 may perform communication with the vehicle 310 through a long-term evolution (LTE) protocol. The control server 330 may perform communication with each of the payment server 340 and the vehicle information query server 350 through a representational state transfer API (REST API) communication protocol.

[0075] The control server 330 may include a memory for storing computer executable instructions, at least one processor for accessing the memory and executing the computer executable instructions, and a communication device for performing communication with external devices such as the charging robot 300 and the vehicle 310. The control server 330 may receive identification information for identifying the vehicle 310 from the charging robot 300. Based on the information of the vehicle 310 queried through the received identification information, the control server 330 may identify communication data for performing long term evolution (LTE) communication with the vehicle 310. The control server 330 may send the charging data received from the charging robot 300 to the vehicle 310 based on the communication data. Herein, the charging data may include, but is not limited to, charging verification data, payment information data, charging port opening command data, charging port closing command data, etc.

[0076] The payment server 340 may represent a server for performing communication with a card company of a card used by the driver to make payment. For example, the payment server 340 may send the charging data received from the control server 330 to the card company server to perform the driver's payment. The payment server 340 may perform the driver's payment through the charging data to perform charging payment without the driver getting off the vehicle.

[0077] The vehicle information query server 350 may represent a server for acquiring identification information required to communicate with the vehicle 310. For example, the vehicle information query server 350 may be a Bluelink server, which may include a server that provides a telematics service that can be operated by a vehicle manufacturer. Specifically, the vehicle information query server 350 may receive identification information of the vehicle 310 identified by the second position recognition device of the charging robot 300 from the control server 330. The vehicle information query server 350 may query the received identification information from a pre-stored database to identify the characteristics of the vehicle 310 (e.g., manufacturer, model, charging capacity, model year, etc.). Based on the information of the vehicle 310 queried through the identification information, the vehicle information query server 350 may send data about communication approval to the control server 330. The vehicle information query server 350 may identify the characteristics of the vehicle through the identification information of the vehicle 310 to authenticate the vehicle 310 without the driver getting off the vehicle.

[0078] The display 360 may represent a display provided by the charging station. For example, the display 360 may output the charging state of the vehicle 310, a request notification for requesting the vehicle 310 to move, a stop notification for stopping charging of the vehicle 310, and the like.

[0079] Figure 4A and Figure 4B is a schematic diagram illustrating an operation of charging a vehicle or stopping charging of a vehicle performed in a charging robot and a control server according to an embodiment of the present invention.

[0080] refer to Figure 4A According to the embodiment, the charging robot 410a can perform a communication connection with the vehicle 420a. For example, the charging robot 410a can perform a communication connection with the vehicle 420a based on the communication data from the control server 440a that identifies the Long Term Evolution (LTE) communication with the vehicle 420a.

[0081] In response to the communication connection with the charging robot 410a, the vehicle 420a may send a notification of arrival at the charging station and a unique identification key of the vehicle 420a to the charging robot 410a. Herein, the unique identification key may represent identification information of the vehicle 420a identified by the charging robot 410a.

[0082] Based on receiving the arrival notification and the unique identification key from the vehicle 420a, the charging robot 410a may transmit the unique identification key of the vehicle 420a and the charging location to the control server 440a. For example, the charging location may be determined by the locations of the charging robot 410a and the vehicle 420a.

[0083] Based on the unique identification key and charging location received from the charging robot 410a, the control server 440a can query the vehicle information query server 450a for information of the vehicle 420a. When the vehicle information query server 450a identifies the vehicle 420a, the control server 440a can send a charging confirmation request to the vehicle 420a.

[0084] When the charging confirmation request received from the control server 440a is displayed by the AVN system included in the vehicle 420a, the driver 430a may input a response to the charging confirmation request. In this case, the vehicle 420a may send the response input by the driver 430a to the control server 440a.

[0085] Based on the response of the driver 430a to the charging confirmation request sent to the control server 440a, the charging robot 410a can determine the location of the vehicle 420a and ensure the charging safety of the vehicle 420a. Specifically, the charging robot 410a can identify the vehicle 420a through its first position recognition device. When the vehicle 420a is identified by the first position recognition device, the charging robot 410a can determine the location of the vehicle 420a based on the distance between the vehicle 420a and the charging robot 410a, the moving direction of the vehicle 420a, and the moving speed of the vehicle. The charging robot 410a can identify obstacles through its second position recognition device. When an obstacle is identified, the charging robot 410a can ensure the charging safety of the vehicle 420a based on the distance between the obstacle and the vehicle 420a, the moving direction of the obstacle, and the moving speed of the obstacle.

[0086] Based on the charging robot 410a determining the location of the vehicle 420a and the charging robot 410a ensuring the charging safety of the vehicle 420a, the control server 440a may send a confirmation request for charging payment information to the vehicle 420a. Based on receiving a response corresponding to the confirmation request for charging payment information from the vehicle 420a, the control server 440a may request the payment server 460a to verify the charging payment information. Based on the verification of the charging payment information, the control server 440a may send the charging data of the vehicle 420a (e.g., data on the charging port opening command).

[0087] refer to Figure 4B, the charging robot 410b according to the embodiment can connect the charging port of the charging device 450b to the charging port of the vehicle 420b based on receiving a command to dock the charging port from the control server 440b. Based on receiving a response to the completion of docking of the charging port from the charging robot 410b, the control server 440b can send a charging start command to the charging device 450b. Due to such a series of operations, each of the charging robot 410b and the control server 440b can charge the vehicle 420b.

[0088] Based on the completion of charging of the vehicle 420b and receiving a charging port closing response from the vehicle 420b, the control server 440b may send a payment request to the payment server 460b. Herein, the payment information targeted by the payment request may be identification information received and acquired by identifying the vehicle 420b.

[0089] When receiving the payment completion response from the payment server 460b, the control server 440b may send a notification of charging completion and payment completion to the vehicle 420b. Herein, when the notification of charging completion and payment completion received from the control server 440b is displayed by the AVN system included in the vehicle 420b, the driver 430b may know that charging is completed.

[0090] Figure 5 is a schematic diagram illustrating a method of recognizing a vehicle by a first position recognition device in a charging robot according to an embodiment of the present invention.

[0091] The charging robot 500 according to the embodiment can be configured to identify the position of the battery by a first position recognition device (e.g., Figure 1 The charging robot 500 may identify the vehicle by using the first position recognition device 150 of the charging robot 500. For example, the charging robot 500 may determine the distance between the identified vehicle and the charging robot 500, the moving direction of the vehicle, and the moving speed of the vehicle. The charging robot 500 may determine the position of the vehicle based on the distance between the vehicle and the charging robot 500, the moving direction of the vehicle, and the moving speed of the vehicle. When the determined position of the vehicle is included in the charging position, the charging robot 500 may charge the vehicle.

[0092] Specifically, the charging robot 500 can determine the position 510 of the vehicle at the target time point based on the target time point of the vehicle identified by the first position recognition device. For example, the charging robot 500 can determine the position 510 of the vehicle at the target time point by a UWB sensor included in the first position recognition device.

[0093] The charging robot 500 may determine the first distance based on a communication result between a tag that can be included in the vehicle and recognize the location of the vehicle and an anchor point of the UWB sensor included in the first location recognition device. Herein, the first distance may be the distance between the vehicle and the charging robot 500, which may be different from the distance that will be referred to below. Figure 6 The distance describing the second distance.

[0094] The charging robot 500 may determine the first moving direction based on the position 510 of the vehicle at the target time point. The charging robot 500 may determine the first moving speed based on the first distance and the first moving direction. In other words, the charging robot 500 may determine the first distance, the first moving direction, and the first moving speed based on the position 510 of the vehicle at the target time point. Specifically, the first moving direction may be determined based on the difference between the position 510 of the vehicle at the target time point and the position of the vehicle at a previous time point before the target time point.

[0095] The charging robot 500 may determine the position 520 of the vehicle at a subsequent time point after the target time point based on the first distance, the first moving direction, and the first moving speed. In other words, the current position of the vehicle may represent the position 510 of the vehicle at the target time point. In addition, due to the current driving state of the vehicle, the position of the vehicle after a predetermined time may represent the position 520 of the vehicle at a subsequent time point.

[0096] The charging robot 500 may obtain the acceleration of the vehicle at the target time point based on the first distance and the first moving speed. The charging robot 500 may determine the position 520 of the vehicle at a subsequent time point based on the position 510 of the vehicle at the target time point, the first moving speed at the target time point, and the acceleration of the vehicle at the target time point. Specifically, the position 520 of the vehicle at the subsequent time point may be represented by the following equation 1.

[0097] Equation 1:

[0098]

[0099] Here, (x t ,y t ) may refer to the position of the vehicle at a subsequent time point 520, (x, y) may refer to the position of the vehicle at a target time point 510, (v x ,v y ) may refer to the first moving speed at the target time point, (a x ,a y) may refer to the acceleration of the vehicle at the target time point, t may refer to a predetermined time, and may refer to the difference between the subsequent time point and the target time point. Therefore, the position 520 of the vehicle at the subsequent time point may be a predicted position determined based on the position 510 of the vehicle at the target time point identified by the UWB sensor.

[0100] Based on the vehicle's position 520 at a subsequent time point being located in an area different from the charging area including the charging position, the charging robot 500 may send a request notification requesting vehicle movement through at least one of an output device included in the charging robot 500 or an output device included in the charging station, or any combination thereof.

[0101] The charging robot 500 may be based on the acceleration of the vehicle at the target time point (e.g., (a x ,a y )) compares the acceleration with the predetermined acceleration to send a request notification requesting the vehicle to move. For example, when the acceleration of the vehicle at the target time point is greater than the predetermined acceleration, the charging robot 500 can send a request notification requesting the vehicle to move through the output device or the output device included in the charging station or any combination thereof.

[0102] When it is determined that the position 520 of the vehicle at a subsequent time point is included in the charging position, the charging robot 500 can skip the sending of the request notification requesting the vehicle to move. In addition, the charging robot 500 can identify whether the position of the vehicle is located at the charging position based on comparing the first distance with the predetermined chargeable distance. For example, when the first distance is less than or equal to the predetermined chargeable distance, the charging robot 500 can identify that the position of the vehicle is located at the charging position. The charging robot 500 can charge the vehicle based on the position of the vehicle being located at the charging position. In particular, the charging robot 500 can identify the UWB tag included in the vehicle through the UWB anchor point included in the first position recognition device, thereby more accurately identifying the location of the charging port of the vehicle.

[0103] Different from this, based on recognizing that the position of the vehicle is not located at the charging position, the charging robot 500 may send a request notification requesting the vehicle to move through an output device or an output device included in the charging station or any combination thereof. The charging robot 500 may send a request notification requesting the vehicle to move a predetermined number of times, but is not limited thereto. For example, when recognizing that the vehicle moves to the charging position, the charging robot 500 may stop the request notification requesting the vehicle to move.

[0104] Figure 6 is a schematic diagram illustrating a method of recognizing an obstacle by a second position recognition device in a charging robot according to an embodiment of the present invention.

[0105] The charging robot 600 according to the embodiment can stop charging the vehicle 640 while charging the vehicle 640. For example, the charging robot 600 can stop charging the vehicle 640 through the second position recognition device (e.g., Figure 1 The charging robot 600 may use the second position recognition device 160 to recognize obstacles around the vehicle 640. When an obstacle is recognized, the charging robot 600 may stop charging the vehicle 640. In addition, when the second position recognition device recognizes that the door of the vehicle 640 is open, the charging robot 600 may stop charging the vehicle 640.

[0106] Based on the position of the vehicle 640 being the charging position, the charging robot 600 may determine the safety area 610 corresponding to the identification area of ​​the second position identification device. Herein, the charging robot 600 may determine at least one of the second distance between the obstacle identified by the second position identification device and the vehicle 640, the second moving direction of the obstacle, or the second moving speed of the obstacle, or any combination thereof, based on the position of the obstacle being located in the safety area 610. However, the embodiment is not limited thereto. For example, the charging robot 600 may determine at least one of the second distance, the second moving direction, or the second moving speed, or any combination thereof, based on the position of the obstacle being a position separated from the safety area 610 by a predetermined distance or being located in the safety area 610.

[0107] For example, the charging robot 600 may stop charging the vehicle 640 based on at least one of the second distance, the second moving direction, or the second moving speed, or any combination thereof. For example, the charging robot 600 may identify the external obstacle 620 and the internal obstacle 630. The charging robot 600 may determine the second distance, the second moving direction, and the second moving speed of each of the external obstacle 620 and the internal obstacle 630.

[0108] First, the operation performed by the charging robot 600 when the charging robot 600 identifies the external obstacle 620 will be described below. When the external obstacle 620 is identified, the charging robot 600 may stop charging the vehicle 640. The charging robot 600 may acquire a second distance, a second moving direction, and a second moving speed of the external obstacle 620. The charging robot 600 may skip stopping the charging of the vehicle 640 and may charge the vehicle 640 based on the second moving speed of the external obstacle 620 being less than or equal to a predetermined first threshold speed. In other words, when the second moving speed of the external obstacle 620 is less than or equal to the first threshold speed, the charging robot 600 may continue to charge the vehicle 640.

[0109] Different from this, based on the second moving speed of the external obstacle 620 being greater than or equal to the predetermined second threshold speed and the second moving direction corresponding to the direction from the position of the external obstacle 620 to the position of the vehicle 640, the charging robot 600 may completely stop charging the vehicle 640. In this case, the charging robot 600 may send an alarm to stop charging the vehicle 640 through at least one of its output device or an output device included in the charging station, or any combination thereof.

[0110] Next, the operation performed by the charging robot 600 when the charging robot 600 recognizes the internal obstacle 630 will be described below. When the internal obstacle 630 is recognized, the charging robot 600 may immediately stop charging the vehicle 640. The charging robot 600 may send an alarm to stop charging the vehicle 640 through at least one of an output device or an output device included in the charging station, or any combination thereof. In addition, the charging robot 600 may send an alarm to remove the internal obstacle 630 from the safety area 610 through at least one of an output device or an output device included in the charging station, or any combination thereof.

[0111] The charging robot 600 can identify the identification information including the information of the vehicle 640 through the laser radar sensor included in the second position recognition device. In other words, the charging robot 600 can identify the identification information including the information of the vehicle 640 through the second position recognition device, and also identify obstacles. The charging robot 600 can identify the vehicle 640 through the second position recognition device, and can immediately stop charging the vehicle 640 based on recognizing that the door of the vehicle 640 is open.

[0112] Fig. 7A and Figure 7B is a flowchart for describing an operation of charging a vehicle or stopping charging of a vehicle performed in a charging robot and a control server according to an embodiment of the present invention.

[0113] refer to Fig. 7A In step 710a, when the vehicle enters the charging station, a charging robot (e.g., Figure 1 The charging robot 100) can identify the UWB connection. For example, the charging robot can identify the UWB connection to identify the vehicle through its first position recognition device.

[0114] In step 720a, the charging robot may determine whether the vehicle is located at a location where it can be refueled (or charged). When the vehicle is not located at a location where it can be refueled, the charging robot may send a reorder request notification. For example, in step 730a, the charging robot may obtain the entry angle of the vehicle. Specifically, the charging robot may determine the first moving direction based on the location of the vehicle. The charging robot may obtain the entry angle of the vehicle by changes in the first moving direction. The charging robot may determine whether the expected path of the vehicle is at a dangerous level by the entry angle of the vehicle. When the expected path of the vehicle is at a dangerous level, the charging robot may send a warning notification.

[0115] In step 740a, the charging robot may identify obstacles around the vehicle being charged through its second position recognition device. For example, the charging robot may identify obstacles around the vehicle being charged through a laser radar sensor included in the second position recognition device.

[0116] When the vehicle is located at a location where it can be refueled (or charged) and there are no obstacles around the vehicle, in step 750a, the charging robot can charge the vehicle.

[0117] refer to Figure 7B , when the vehicle is located at a location where it can be refueled (or charged) and there are no obstacles around the vehicle, in step 710b, the charging robot according to the embodiment can perform charging of the vehicle.

[0118] In step 720b, the charging robot may identify obstacles around the vehicle during the time of performing charging. For example, the charging robot may identify obstacles located around the vehicle being charged at predetermined intervals through a laser radar sensor included in the second position recognition device. Specifically, the charging robot may send a request to avoid external obstacles identified outside the safety area as a predetermined area. Different from this, when an internal obstacle is identified within the safety area as a predetermined area, the charging robot may immediately stop charging the vehicle.

[0119] In step 730b, the charging robot may send an alert regarding a request to ensure safety with respect to the identified internal obstacle through at least one of the output device or the output device included in the charging station, or any combination thereof.

[0120] In step 740b, when the removal of the identified internal obstacle is completed, the charging robot may charge the vehicle again.

[0121] Figure 8 is a schematic diagram showing information that can be displayed in a vehicle when a charging robot sends charging data to a vehicle according to an embodiment of the present invention.

[0122] The charging robot 800 according to the embodiment may include a UWB sensor and a laser radar sensor. The charging robot 800 may identify the movement process and movement path of the vehicle 810 through the UWB sensor. The charging robot 800 may identify obstacles around the vehicle 810 being charged through the laser radar sensor. Specifically, the charging robot 800 may identify obstacles inside and outside the safety area 820 through the laser radar sensor.

[0123] The charging robot 800 can send a signal to a control server (e.g., Figure 3 The control server 330 of the charging robot 800 sends identification information for identifying the vehicle. Based on the information of the vehicle 810 inquired by the received identification information, the control server can identify the communication data for performing long term evolution (LTE) communication with the vehicle 810. The control server can send the charging data received from the charging robot 800 to the vehicle 810 based on the communication data.

[0124] The vehicle 810 may include an AVN system capable of receiving input from the driver. The vehicle 810 may provide the driver with payment related to charging through the AVN system. For example, the vehicle 810 may provide the driver with charging data received from the control server through the AVN system, thereby obtaining the driver's payment approval. When arriving at the charging station, the driver may click a confirmation button on a pop-up window output from the AVN system to charge the vehicle without executing a separate application or manipulating the AVN system.

[0125] Fig. 9 is a schematic diagram showing a computing system related to a charging robot, a control server or a charging method according to an embodiment of the present invention.

[0126] refer to Fig. 9 The computing system 1000 related to the charging robot, control server or charging method may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600 and a network interface 1700 connected to each other via a bus 1200.

[0127] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) 1310 and a RAM (Random Access Memory) 1320.

[0128] Therefore, the steps of the method or algorithm described in conjunction with the embodiments disclosed in this specification can be directly implemented using a hardware module, a software module, or a combination of a hardware module and a software module executed by the processor 1100. The software module may exist in a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, a hard disk, a removable disk, and a CD-ROM.

[0129] An exemplary storage medium may be coupled to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may be present in an application specific integrated circuit (ASIC). The ASIC may be present in a user terminal. In another case, the processor and the storage medium may be present in a user terminal as separate components.

[0130] As described above, although the present invention has been described with reference to exemplary embodiments and the accompanying drawings, the present invention is not limited thereto, but various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

[0131] The above-mentioned embodiments can be realized by hardware components, software components and / or a combination of hardware components and software components. For example, the device, method and assembly described in the embodiment can be realized by a general-purpose computer or a special-purpose computer (for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor or any device that can execute instructions and respond). The processing unit can execute an operating system (OS) or a software application running on the OS. In addition, the processing unit can access, store, operate, process and generate data in response to the execution of software. It will be appreciated by those skilled in the art that, although a single processing unit is shown for ease of understanding, the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or a processor and a controller. In addition, the processing unit may have different processing configurations, for example, parallel processors.

[0132] Software may include computer programs, codes, instructions, or one or more combinations thereof, and may configure a processing unit to operate in a desired manner, or may command a processing unit independently or collectively. Software and / or data may be permanently or temporarily contained in any type of machine, component, physical device, virtual device, computer storage medium or unit, or transmitted signal waves for interpretation by or provision of instructions or data to a processing unit. Software may be distributed throughout a network of computer systems and may be stored or executed in a distributed manner. Software and data may be recorded in a computer-readable storage medium.

[0133] The method according to the embodiment can be implemented in the form of program instructions, which can be executed by various computer devices and can be recorded in a computer-readable medium. Computer-readable media can include program instructions, data files, data structures, etc., individually or in combination, and the program instructions recorded on the medium can be specially designed and configured for the example, or can be known and available to technicians in the field of computer software. Examples of computer-readable media include magnetic media (e.g., hard disks, floppy disks, and tapes); optical media (e.g., compact disk read-only memory (CD-ROM) disks and digital versatile disks (DVDs)); magneto-optical media (e.g., floppy disks); and hardware devices (e.g., read-only memory (ROM), random access memory (RAM), flash memory, etc.) specially configured to store and execute program instructions. Program instructions include both machine code (e.g., machine code generated by a compiler) and high-level code executed by a computer using an interpreter.

[0134] The above-mentioned hardware devices may be configured to act as one or more software modules to perform the operations of the embodiments, or vice versa.

[0135] Although the embodiments are described with reference to the limiting drawings, it is obvious to those skilled in the art that various changes or modifications may be made to the embodiments based on the above description. For example, even if the above processes and methods are performed in a different order from that described above, and / or the above components (e.g., systems, structures, devices, or circuits) are combined or connected in a different form and mode from that described above, or replaced or switched with other components or equivalents, appropriate effects may be achieved.

[0136] Effects of the charging robot, the control server, and the charging method according to the embodiment of the present invention will be described.

[0137] According to at least one of the embodiments of the present invention, based on the position of the vehicle identified by the first position identification device being included in the charging position, the charging robot can charge the vehicle, and the charging robot can determine the entry speed and expected position of the vehicle moving for charging without the need for CCTV for identifying the parking status of the vehicle, thereby preventing accidents through alarms.

[0138] In addition, according to at least one of the embodiments of the present invention, based on the position of the obstacle identified by the second position recognition device being located in a safe area, the charging robot can stop charging the vehicle without installing a separate obstacle detection motion sensor bollard for identifying the obstacle, thereby improving economic efficiency.

[0139] In addition, according to at least one of the embodiments of the present invention, based on the communication data identified by the identification information for identifying the vehicle, the charging robot can send charging data to the vehicle, which has the convenience of being able to pay the charging fee without the driver getting off the vehicle and the effect of improving efficiency by utilizing the audio, video, and navigation (AVN) system included in the vehicle without installing a separate application.

[0140] Furthermore, various effects directly or indirectly determined by the present invention can be provided.

[0141] Accordingly, other implementations, other embodiments, and equivalents are within the scope of the appended claims.

[0142] Therefore, the embodiments of the present invention are not intended to limit the technical spirit of the present invention, but are provided for illustrative purposes only. The scope of the present invention should be interpreted based on the appended claims, and all technical ideas within the scope equivalent to the claims should be included in the scope of the present invention.

Claims

1. A charging robot, comprising: a memory storing computer executable instructions; at least one processor configured to access the memory and execute computer-executable instructions; Output device; as well as a first position identification device configured to identify a vehicle approaching a charging station; Wherein, the at least one processor is configured as: Determine at least one of a first distance between the vehicle and the charging robot identified by the first position identification device, a first moving direction of the vehicle, or a first moving speed of the vehicle, or any combination thereof; When the position of the vehicle is included in a charging position, the vehicle is charged based on at least one of the first distance, the first moving direction, or the first moving speed, or any combination thereof, and the charging position is a position where the charging robot can charge the vehicle.

2. The charging robot according to claim 1, wherein: The at least one processor is further configured to: determining the first distance based on a target time point when the first position recognition device recognizes the vehicle, based on a communication result between a tag that can be included in the vehicle and recognize the position of the vehicle and an anchor point of an ultra-wideband sensor included in the first position recognition device; determining the first direction of movement based on the position of the vehicle; The first moving speed is determined based on the first distance and the first moving direction.

3. The charging robot according to claim 2, wherein: The at least one processor is further configured to: Determining the position of the vehicle at a subsequent time point after the target time point based on the position of the vehicle at the target time point when the first position recognition device recognizes the vehicle, the first moving speed at the target time point, and the acceleration of the vehicle at the target time point; When the position of the vehicle at a subsequent time point is located in an area different from the charging area including the charging position, a request notification requesting vehicle movement is sent through at least one of the output device or a second output device included in the charging station or any combination thereof.

4. The charging robot according to claim 2, wherein: The at least one processor is further configured to: Based on comparing the acceleration of the vehicle at the target time point with the predetermined acceleration, a request notification requesting the vehicle to move is sent through at least one of the output device or a second output device included in the charging station or any combination thereof.

5. The charging robot according to claim 1, wherein: The at least one processor is further configured to: identifying whether the position of the vehicle is at a charging position based on comparing the first distance with a predetermined chargeable distance; When the vehicle is located at the charging position, the vehicle is charged.

6. The charging robot according to claim 5, wherein: The at least one processor is further configured to: When it is recognized that the position of the vehicle is not at the charging position, a request notification requesting the vehicle to move is sent through at least one of the output device or a second output device included in the charging station or any combination thereof.

7. The charging robot according to claim 1, further comprising: a second position recognition device configured to recognize an obstacle located in a predetermined area based on the position of the vehicle, Wherein, the at least one processor is further configured to: When the position of the vehicle is included in the charging position, determining a safety area corresponding to the recognition area of ​​the second position recognition device; When the position of the obstacle is located in the safety area, determining at least one of a second distance between the obstacle and the vehicle, a second moving direction of the obstacle, or a second moving speed of the obstacle, or any combination thereof, identified by the second position identification device; Based on at least one of the second distance, the second moving direction, or the second moving speed, or any combination thereof, charging of the vehicle is stopped.

8. The charging robot according to claim 7, wherein: The at least one processor is further configured to: The identification information including the information of the vehicle is identified by a light detection and ranging sensor included in the second position identification device.

9. The charging robot according to claim 7, wherein: The at least one processor is further configured to: When the second moving speed is less than or equal to a predetermined first threshold speed, stopping of charging of the vehicle is skipped and the vehicle is charged.

10. The charging robot according to claim 7, wherein: The at least one processor is further configured to: When the second moving speed is greater than or equal to a predetermined second threshold speed, and the second moving direction corresponds to a direction from the location of the obstacle to the location of the vehicle, stopping charging the vehicle; A stop notification for stopping charging of the vehicle is sent through at least one of the output device or a second output device included in the charging station, or any combination thereof.

11. The charging robot according to claim 7, wherein: The at least one processor is further configured to: identifying the vehicle by a second position identification device; When the vehicle door is detected to be open, charging of the vehicle is stopped.

12. A control server, comprising: a memory storing computer executable instructions; at least one processor configured to access the memory and execute instructions; as well as a communication device configured to communicate with the charging robot and the vehicle; Wherein, the at least one processor is configured as: receiving identification information for identifying the vehicle from the charging robot; identifying communication data for performing long term evolution communication with the vehicle based on information queried to the vehicle through the received identification information; Based on the communication data, the charging data received from the charging robot is transmitted to the vehicle.

13. A charging method, comprising: Determine at least one of a first distance between the vehicle and the charging robot, a first moving direction of the vehicle, or a first moving speed of the vehicle, or any combination thereof, identified by a first position identification device included in the charging robot; charging the vehicle based on at least one of the first distance, the first moving direction, or the first moving speed, or any combination thereof, based on the position of the vehicle being included in a charging position, the charging position being a position where the charging robot can charge the vehicle; when the position of the vehicle is included in the charging position, determining a safety area corresponding to a recognition area of ​​a second position recognition device included in the charging robot; When the position of the obstacle is located in the safety area, determining at least one of a second distance between the obstacle and the vehicle, a second moving direction of the obstacle, or a second moving speed of the obstacle, or any combination thereof, identified by the second position identification device; Based on at least one of the second distance, the second moving direction, or the second moving speed, or any combination thereof, charging of the vehicle is stopped.

14. The charging method according to claim 13, wherein: Charging the vehicle includes: determining the first distance based on a target time point when the first position recognition device recognizes the vehicle, based on a communication result between a tag that can be included in the vehicle and recognize the position of the vehicle and an anchor point of an ultra-wideband sensor included in the first position recognition device; determining the first direction of movement based on the position of the vehicle; determining the first moving speed based on the first distance and the first moving direction; Determining the position of the vehicle at a subsequent time point after the target time point based on the position of the vehicle at the target time point when the first position recognition device recognizes the vehicle, the first moving speed at the target time point, and the acceleration of the vehicle at the target time point; When the position of the vehicle at a subsequent time point is located in an area different from the charging area including the charging position, a request notification requesting vehicle movement is sent through at least one of an output device included in the charging robot or a second output device included in the charging station, or any combination thereof.

15. The charging method according to claim 14, wherein: Sending a request notification for a vehicle to move includes: Based on comparing the acceleration of the vehicle at the target time point with the predetermined acceleration, a request notification requesting the vehicle to move is sent through at least one of the output device or a second output device included in the charging station or any combination thereof.

16. The charging method according to claim 13, wherein: Charging the vehicle includes: identifying whether the position of the vehicle is at a charging position based on comparing the first distance with a predetermined chargeable distance; When the vehicle is located at a charging position, charging the vehicle; When it is recognized that the position of the vehicle is not at the charging position, a request notification requesting the vehicle to move is sent through at least one of an output device included in the charging robot or a second output device included in the charging station, or any combination thereof.

17. The charging method according to claim 13, wherein: Stopping the vehicle from charging includes: When the second moving speed is less than or equal to a predetermined first threshold speed, stopping of charging of the vehicle is skipped and the vehicle is charged.

18. The charging method according to claim 13, wherein: Stopping the vehicle from charging includes: When the second moving speed is greater than or equal to a predetermined second threshold speed, and the second moving direction corresponds to a direction from the location of the obstacle to the location of the vehicle, stopping charging the vehicle; A stop notification for stopping charging of the vehicle is sent through at least one of an output device included in the charging robot or a second output device included in the charging station, or any combination thereof.

19. The charging method according to claim 13, wherein: Stopping the vehicle from charging includes: identifying the vehicle by a second position identification device; When the vehicle door is detected to be open, charging of the vehicle is stopped.

20. The charging method according to claim 13, further comprising: receiving identification information for identifying the vehicle from the charging robot; When the information of the vehicle is queried through the received identification information, identifying the communication data for performing the long term evolution communication with the vehicle; Based on the communication data, the charging data received from the charging robot is transmitted to the vehicle.

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